https://wiki.bespokerobotsociety.org/index.php?action=history&feed=atom&title=Capability%3AOmni_DriveCapability:Omni Drive - Revision history2026-04-25T10:17:46ZRevision history for this page on the wikiMediaWiki 1.43.5https://wiki.bespokerobotsociety.org/index.php?title=Capability:Omni_Drive&diff=27&oldid=prevJohn: Claude edited based on my notes, prompt, and SimpleBot code repository2025-10-11T16:16:16Z<p>Claude edited based on my notes, prompt, and SimpleBot code repository</p>
<p><b>New page</b></p><div>{{Capability<br />
| name = Omni Drive<br />
| type = Actuation<br />
| measures = Translation and rotation in any direction simultaneously<br />
| hardware = Mecanum wheels (4-wheel), omni wheels (3-wheel holonomic)<br />
| enables = Holonomic navigation, precise positioning in tight spaces<br />
| status = '''Stub''' - Not yet implemented in BRS robots<br />
}}<br />
<br />
'''Omni Drive''' is a actuation capability that enables omnidirectional movement using special wheels.<br />
<br />
== Overview ==<br />
<br />
'''This is a stub page.''' This capability is not yet implemented in any BRS robot. This page exists to:<br />
* Document the concept for future implementation<br />
* Invite community members to add it to their robots<br />
* Provide a starting point for hardware selection<br />
<br />
== What It Controls ==<br />
<br />
Translation and rotation in any direction simultaneously<br />
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== Common Hardware ==<br />
<br />
Mecanum wheels (4-wheel), omni wheels (3-wheel holonomic)<br />
<br />
== Enables Activities ==<br />
<br />
Adding this capability to your robot would enable:<br />
<br />
<br />
<br />
== Technical Considerations ==<br />
<br />
* **Advantages**: Move in any direction without rotating chassis, strafe capability<br />
* **Disadvantages**: Expensive wheels, complex kinematics, less efficient than differential drive<br />
* **Typical cost**: $50-150 for wheel set<br />
* **Wheel types**: Mecanum (diagonal rollers), omni (perpendicular rollers)<br />
* **Motor count**: 3-4 motors required<br />
* **Surface**: Works best on smooth, hard surfaces<br />
<br />
== Contributing ==<br />
<br />
Want to add this capability to your robot? Here's how:<br />
<br />
# Select appropriate hardware (see "Common Hardware" above)<br />
# Mount the hardware to your robot chassis<br />
# Wire to your microcontroller<br />
# Write driver code or use existing libraries<br />
# Test and calibrate<br />
# Document your implementation<br />
# Update this page with your findings<br />
# Share on [[Discord]]<br />
<br />
== See Also ==<br />
<br />
* [[Capabilities]] - All capabilities<br />
* [[Activities]] - What this capability enables<br />
* [[Robotics Ontology]] - How capabilities fit into BRS knowledge structure<br />
<br />
[[Category:Capability]]<br />
[[Category:Actuation Capability]]<br />
[[Category:Stub]]</div>John